[工学]运料机械手的设计毕业设计说明书 完整版.docVIP

本 科 毕 业 设 计 (论 文) 运料机械手的设计 Material Handling Manipulator Design 学 院： 机械工程学院 专业班级： 机械电子工程 DZ机电091 学生姓名： 叶国巍 学 号： 2011140428 指导教师： 汪冰（讲师） 2013年 6月 毕业设计（论文）中文摘要 运料机械手的设计 摘 要：在工业自动化发展，机械手在工业应用中越来越重要。工业机械手可以代替人手的繁重劳动，显著减轻工人的劳动强度，提高生产率。一种应用于加工生产线的搬运机械手机械手重点液压系统图 毕业设计（论文）外文摘要 Material Handling Manipulator Design Abstract: In todays rapid development of industrial automation, robots are becoming increasingly important in industrial applications. Industrial robots can replace people heavy labor, significantly reduce the labor intensity of workers, improve the productivity. This paper designed a kind of four degrees of freedom of the carrying manipulator is applied to the processing production line. Manipulator can achieve movement respectively is arm drop, gripper clamping, arm rising, fuselage reversal, artifacts to loosen, arms outstretched, fuselage drops, arm back, body rise, clockwise rotation.First of all, the manipulator overall plan design, determine the coordinates of the manipulator and the degrees of freedom, determine the technical parameters of manipulator. Secondly, calculate the drive torque needed for the hand claw, arm, body, and chose a hydraulic cylinder model, respectively. The key design of the manipulator hydraulic system diagram, diagram of PLC control program, I/O terminal distribution diagram, flow chart of function. Under the control of PLC, the system is removed from the production line will not be eligible workpiece simple actions. Keywords: manipulator ; hydraumatic ; PLC  目 录 1 绪论 ………………………………………………………………………………1 1.1 课题背景 ………………………………………………………………………1 1.2 设计目的…………………………………………………………………………1 2 手部结构 …………………………………………………………………………1 2.1 设计时应考虑的几个问题 ……………………………………………………1 2.2 驱动力的计算 …………………………………………………………………2 2.3 夹紧缸的设计计算 ……………………………………………………………4 3 臂部设计 …………………………………………………………………………6 3.1 伸缩手臂运动驱动力计算 ……………………………………………………6